The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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Articles | Volume XLII-2/W16
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLII-2/W16, 13–20, 2019
https://doi.org/10.5194/isprs-archives-XLII-2-W16-13-2019
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XLII-2/W16, 13–20, 2019
https://doi.org/10.5194/isprs-archives-XLII-2-W16-13-2019

  17 Sep 2019

17 Sep 2019

A CONCEPT FOR AN AUTOMATED APPROACH OF PUBLIC TRANSPORT VEHICLES TO A BUS STOP

C. Albrecht1, S. Kraus2, A. Zimmermann2, and U. Stilla1 C. Albrecht et al.
  • 1Photogrammetry and Remote Sensing, Technical University of Munich (TUM), Germany
  • 2MAN Truck & Bus SE, Munich, Germany

Keywords: Self-Localization, SLAM, Automated Driving, Graph Optimization, High Definition Map, Low-level Data Fusion

Abstract. This paper discusses the current methods for vehicle self-localization and compares previous findings to the use for urban public traffic vehicles. In specific, requirements for autonomous buses approaching a bus stop are defined. An autonomous system capable of reliable vehicle self-localization running in real-time in a city scenario shall be developed in a future work based on this paper. The comparison of filter-based estimation and graph-based optimization techniques shows that the latter suits the the automated approach to a bus stop in an urban environment the best. Based on these findings, a concept for self-localization of public transport vehicles equipped with a variety of imaging sensors with the help of a digital high definition map is presented. A current method is shown and a concept of improving the localization by inferring semantic information into landmark detection by low-level data fusion is provided. Validation and verification of the proposed fusion approach have to be carried out in the future, but a validation scenario is presented in this work.